Purpose

This paper aims to present an image-based visual servoing algorithm for a multiple pin-in-hole assembly. This paper also aims to avoid the matching and tracking of image features and the remaining robust against image defects.

Design/methodology/approach

The authors derive a novel model in the set space and design three image errors to control the 3 degrees of freedom (DOF) of a single-lug workpiece in the alignment task. Analytic computations of the interaction matrix that link the time variations of the image errors to the single-lug workpiece motions are performed. The authors introduce two approximate hypotheses so that the interaction matrix has a decoupled form, and an auto-adaptive algorithm is designed to estimate the interaction matrix.

Findings

Image-based visual servoing in the set space avoids the matching and tracking of image features, and these methods are not sensitive to image effects. The control law using the auto-adaptive algorithm is more efficient than that using a static interaction matrix. Simulations and real-world experiments are performed to demonstrate the effectiveness of the proposed algorithm.

Originality/value

This paper proposes a new visual servoing method to achieve pin-in-hole assembly tasks. The main advantage of this new approach is that it does not require tracking or matching of the image features, and its supplementary advantage is that it is not sensitive to image defects.

中文翻译：

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使用一组用于多个销孔装配的基于图像的视觉伺服

目的

本文旨在提出一种基于图像的多针孔装配视觉伺服算法。本文还旨在避免图像特征的匹配和跟踪以及对图像缺陷的鲁棒性。

设计/方法/方法

作者在设置空间中推导了一个新颖的模型，并设计了三个图像误差，以在对准任务中控制单凸耳工件的3个自由度（DOF）。进行了将图像误差的时间变化与单凸块工件运动相关联的相互作用矩阵的解析计算。作者介绍了两个近似假设，以使交互矩阵具有解耦形式，并设计了一种自适应算法来估计交互矩阵。

发现

在设置空间中基于图像的视觉伺服避免了图像特征的匹配和跟踪，并且这些方法对图像效果不敏感。使用自适应算法的控制律比使用静态交互矩阵的控制律更有效。仿真和真实世界的实验被执行以证明所提出的算法的有效性。

创意/价值

本文提出了一种新的视觉伺服方法来实现销孔装配任务。这种新方法的主要优点是它不需要跟踪或匹配图像特征，而其补充的优点是它对图像缺陷不敏感。